Metareasoing for Realtime Search

Welcome to Metareasoing for Realtime Search project!

The purpose of the project is to implement several commitment strategies for real-time search algorithms and run benchmark with classical search domains such as Grid Pathfinding, Sliding Tiles, and Pancakes.

Prerequisites

We use clang ecosystem to compile and develop the codebase. You can install necessary components by running

sudo apt install clang-6.0 clang-tidy-6.0 clang-format-6.0

Install up-to-date CMake version. We also use cmake-format to keep our CMake files tidy.

sudo pip install cmake
sudo pip install cmake-format

Conan Setup

The Conan package manager is used to manage project's external dependencies. This section describes the process of setting it up. Installation is as simple as running

sudo pip3 install conan

Creating Profiles

We need to setup a Conan profile — a list of properties that characterize the environment. The following commands will create a new profile called default and set it up for Ubuntu 16.04 environment. If you are using several profiles, you may want to choose a more descriptive name for it.

# create new profile called 'default'
conan profile new default --detect
# modify settings of the 'default' profile
conan profile update settings.compiler.version=5.4 default
conan profile update settings.compiler.libcxx=libstdc++11 default

At the moment, there exist precompiled versions of the packages needed by the project for this particular profile:

os=Linux
arch=x86_64
compiler=gcc
compiler.version=5.4
compiler.libcxx=libstdc++11
build_type=Release

Note that you can have multiple profiles and also modify existing ones when needed. For more details see the Conan Getting Started guide.

Compilation

git clone git@github.com:gtianyi/metaReasoningRealTimePlanning.git
mkdir build_release && cd build_release
conan install ../metaReasoningRealTimePlanning --build missing
cmake -GNinja ../metaReasoningRealTimePlanning
ninja realtimeSolver 

For debug purpose, you can also do the following

cd ..
mkdir build_debug && cd build_debug
conan install ../metaReasoningRealTimePlanning --build missing
cmake -DCMAKE_BUILD_TYPE=Debug -GNinja ../metaReasoningRealTimePlanning
ninja realtimeSolver 

clang-d user config

cd <repo dir>
ln -s ../build_release/compile_commands.json compile_commands.json

If you also use editor plugin such as clangd, don't forget to symlink the build flag to the root of the source tree. For more details see the clangd prject-setup guide.

Run

cd <repo>
cd ../build_release
bin/realtimeSolver -h
This is a realtime search program
Usage:
  ./realtimeSolver [OPTION...]

  -d, --domain arg          domain type: gridPathfinding, tile, pancake,
                            racetrack (default: gridPathfinding)
  -s, --subdomain arg       puzzle type: uniform, inverse, heavy, sqrt;
                            pancake type: regular, heavy;racetrack map :
                            barto-bigger, hanse-bigger-double, uniform (default:
                            barto-bigger)
  -a, --alg arg             commit algorithm: one, alltheway, fhatpmr, dtrts
                            (default: alltheway)
  -l, --lookahead arg       expansion limit (default: 10)
  -o, --performenceOut arg  performence Out file
  -i, --instance arg        instance file name (default: 2-4x4.st)
  -f, --heuristicType arg   gridPathfinding type : euclidean,
                            mahattan;racetrack type : euclidean, dijkstra;pancake: gap,gapm1,
                            gapm2 (default: euclidean)
  -v, --visOut arg          visulization Out file
  -h, --help                Print usage

example command:
bin/realtimeSolver -d gridPathfinding -a one -l 10 -o outtest.json < <instance_file_dir>/gridPathfinding/goalObstacleField/10.gp

Experiments Pipeline

TODO

Problem Instances

All the problem instance file can be found here

Visualization Repo

Some visualization can be found here