Implementation of the G2RL [1] approach in the POGEMA environment.
Problem: MAPF
Environment: 2D grid with static obstacles and dynamic agents
Agent actions: wait, up, down, left, right
Local observations: free cells, static obstacles, dynamic agents
Global guidance: the shortest traversable path considering all static obstacles
Objective: minimize the overall number of steps and avoid conflicts
Partially based on the repo.
Installation:
pip install -r requirements.txt
pip install .
Notebook with simple examples of training and testing implementations.
[1] B. Wang, Z. Liu, Q. Li, and A. Prorok, "Mobile robot path planning in dynamic environments through globally guided reinforcement learning," IEEE Robot. Autom. Lett., vol. 5, no. 4, pp. 6932–6939, Oct. 2020.