https://github.com/apla-toolbox/pymapf

📍🗺️ A Python library for Multi-Agents Planning and Pathfinding (Centralized and Decentralized)
https://github.com/apla-toolbox/pymapf

control mapf muli-agent-pathfinding multi-agent multi-agent-planning multi-agent-system planning plannng robotics

Last synced: 6 months ago
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📍🗺️ A Python library for Multi-Agents Planning and Pathfinding (Centralized and Decentralized)

• Host: GitHub
• URL: https://github.com/apla-toolbox/pymapf
• Owner: APLA-Toolbox
• License: mit
• Created: 2021-01-16T13:16:12.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2025-04-02T12:02:34.000Z (6 months ago)
• Last Synced: 2025-04-02T13:22:18.817Z (6 months ago)
• Topics: control, mapf, muli-agent-pathfinding, multi-agent, multi-agent-planning, multi-agent-system, planning, plannng, robotics
• Language: Python
• Homepage:
• Size: 147 KB
• Stars: 72
• Watchers: 2
• Forks: 11
• Open Issues: 18
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          


    

     

    





# PyMAPF

✨ A Python toolbox for Multi-Agents Planning (Centralized and Decentralized) ✨





    

![tests](https://github.com/APLA-Toolbox/pymapf/workflows/tests/badge.svg?branch=main)

![pip-package](https://github.com/APLA-Toolbox/pymapf/workflows/.github/workflows/pip-tests.yml/badge.svg)

[![codecov](https://codecov.io/gh/APLA-Toolbox/pymapf/branch/main/graph/badge.svg?token=63GHA9JUND)](https://codecov.io/gh/APLA-Toolbox/pymapf)

[![CodeFactor](https://www.codefactor.io/repository/github/apla-toolbox/pymapf/badge)](https://www.codefactor.io/repository/github/apla-toolbox/pymapf)

[![Percentage of issues still open](http://isitmaintained.com/badge/open/APLA-Toolbox/pymapf.svg)](http://isitmaintained.com/project/APLA-Toolbox/pymapf "Percentage of issues still open")

![PipPerMonths](https://img.shields.io/pypi/dm/pymapf.svg)

[![Pip version fury.io](https://badge.fury.io/py/pymapf.svg)](https://pypi.python.org/pypi/pymapf/)

[![GitHub license](https://img.shields.io/github/license/Apla-Toolbox/pymapf.svg)](https://github.com/Apla-Toolbox/pymapf/blob/master/LICENSE)

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[Report Bug](https://github.com/APLA-Toolbox/pymapf/issues) · [Request Feature](https://github.com/APLA-Toolbox/pymapf/issues)


Loved the project? Please consider [donating](https://www.buymeacoffee.com/dq01aOE) to help it improve!



## Features 🌱

- ✨ Built to be expanded: easy to add new planners

- 🖥️ Supported on Ubuntu

- 🎌 Built with Python

- 🔎 Reactive Distributed Planners (Nonlinear Model Predictive Control, Velocity Obstacles)

- 🧭 Centralized Planners (Space-Time A*)

- 📊 Benchmark Tools (Incoming...)

- 🍻 Maintained (Incoming: Enhanced Conflict-Based Search, Local-Repair A*, Replanning RRT*...)



    

     

    



## Dependencies 🖇️

- Install Python (3.7.5 is the tested version)

- Install Pip: `sudo apt install python3-pip`

- Upgrade Pip: `python3 -m pip install --upgrade pip`

### Using the repository 💾

- Clone the repo: `git clone https://github.com/apla-toolbox/pymapf`

- Cd into the repo `cd pymapf`

- Install requirements: `python3 -m pip install -r requirements.txt`

### Using the pip package 📦

- Install the package: `python3 -m pip install pymapf`

## Usage 📑

### Scripts 💨

Launch hub switch scripts using:

- `python3 scripts/switch_positions_nmpc.py`

- `python3 scripts/switch_positions_vel_obstacles.py` (broken)

More to come...

### Library 🗺️

```python

from pymapf.decentralized import MultiAgentNMPC

from pymapf.decentralized.position import Position

import numpy as np

sim = MultiAgentNMPC()

sim.register_agent("r2d2", Position(0, 3), Position(10, 7))

sim.register_agent("bb8", Position(0, 7), Position(5, 10))

sim.register_agent("c3po", Position(10, 7), Position(5, 0))

sim.register_obstacle(2, np.pi/4, Position(0, 0))

sim.run_simulation()

sim.visualize("filename_test", 10, 10)

```

```python

from pymapf.decentralized.velocity_obstacle import MultiAgentVelocityObstacle

from pymapf.decentralized.position import Position

sim = MultiAgentVelocityObstacle(simulation_time=8.0)

sim.register_agent("r2d2", Position(0, 3), Position(10, 7))

sim.register_agent("bb8", Position(0, 7), Position(5, 10))

sim.register_agent("c3po", Position(10, 7), Position(5, 0))

sim.run_simulation()

sim.visualize("filename_test_2", 10, 10)

```

## Cite 📰

If you use the project in your work, please consider citing it with:

```

@misc{https://doi.org/10.13140/rg.2.2.14030.28486,

  doi = {10.13140/RG.2.2.14030.28486},

  url = {http://rgdoi.net/10.13140/RG.2.2.14030.28486},

  author = {Erwin Lejeune and Sampreet Sarkar},

  language = {en},

  title = {Survey of the Multi-Agent Pathfinding Solutions},

  publisher = {Unpublished},

  year = {2021}

}

```

List of publications & preprints using `pymapf` (please open a pull request to add missing entries):

* [Survey of MAPF solutions](https://www.researchgate.net/publication/348716625_Survey_of_the_Multi-Agent_Pathfinding_Solutions) (January 2021)

## Contribute 🆘

Open an issue to state clearly the contribution you want to make. Upon aproval send in a PR with the Issue referenced. (Implement Issue #No / Fix Issue #No).

## Maintainers Ⓜ️

- Erwin Lejeune

- Sampreet Sarkar