PYTHO IMPLEMENTATION OF MULTI AGENT EXPLORATION

Grid Type: Easy

Number of Agents: 8

Number of Unknown Obstacle: 1

Grid Type: Difficult

Number of Agents: 4

Number of Unknown Obstacle: 4

Grid Type: Easy

Number of Agents: 1

Number of Unknown Obstacle: 4

RUNNING INSTRUCTION

• Import conda env using the following command:

  conda env create -f env.yml
conda activate multiagentexploration

• Run the code using command:

  python multi_agent_exploration.py

REQUIRED PACKAGES

• Anaconda

  https://www.anaconda.com/distribution/
https://docs.anaconda.com/anaconda/install/

MODULES

• Multi-Agent-Exploration
  • Agent
    • Agent generator
    • Agent handler
  • D-start-lite
    • D start lite
  • Exploration
    • Explorer
  • Grid world generator
    • Grid world
  • Mapping
    • Mapper
  • Occupance grid generator
    • Occupance grid generator
  • Region Assignment
    • Hungarian region assignment
    • K mean clustring
  • utils
    • graph
    • util finctions
  • config
    • Config(default)
    • config(run time configurations)
  • multi-agent-exploration

FEATURES

In order to use features. open file /config/config.yaml

• N number of agents for exploration
  • no_of_agents = value
  • value must be integer (range:0~8)
• 4 different difficulty levels
  • complexity_level = value
  • value must be one of the following (very_easy, easy, moderate, difficult)
• variable sensor range
  • sensor_range = value
  • value must be in pixels
  • Default: 45 pixels in every direction

TROUBLESHOOTING

In order to troubleshoot. open file /config/config.yaml

Change verbose value from False to True. This will start displaying helpful information on console.

Change show_results from False to True. This will start displaying plots.