data

Map data generation

Random maps

We use a custom data generator to generate the random maps in which we make sure that goals are reachable from the start position.

To run the data generation, you may use:

python3 generate_data_random_maps.py --num_instances 100

usage: generate_data_random_maps.py [-h] [--width WIDTH] [--height HEIGHT] [--density DENSITY] [--num_agents NUM_AGENTS] [--num_instances NUM_INSTANCES]

Generate random maps and agents for testing

options:
  -h, --help            show this help message and exit
  --width WIDTH         Width of the map
  --height HEIGHT       Height of the map
  --density DENSITY     Density of the map
  --num_agents NUM_AGENTS
                        Number of agents
  --num_instances NUM_INSTANCES
                        Number of instances

Structured maps (MovingAI's MAPF Benchmark)

We use the data generator from SACHA to generate the data for the map.

The maps are taken from Moving AI's MAPF Benchmark.

To run the data generation, you may use:

python3 generate_data.py --num_instances 100

![TIP] You may also load more maps inside of the maps/ folder!

You can modify the config.yaml file to change the number of instances and the map size.