TaskGraphs

A Julia package for modeling and solving precedence constrained multi-agent task assignment and path finding (PC-TAPF) problems.

Installation

Enter the Julia REPL

$ julia

Type "]" to enter Pkg mode

julia> ]

Add the dependent repository GraphUtil with the command add https://github.com/sisl/GraphUtils.jl.git

pkg> add https://github.com/sisl/GraphUtils.jl.git

Add the dependent repository CRCBS with the command add add https://github.com/sisl/CRCBS.jl.git

pkg> add add https://github.com/sisl/CRCBS.jl.git

Add the repository with the command add https://github.com/sisl/TaskGraphs.jl.git

pkg> add https://github.com/sisl/TaskGraphs.jl.git

If you wish to contribute to the package, use dev:

pkg> dev https://github.com/sisl/TaskGraphs.jl.git

Quick Start

julia> using TaskGraphs

julia> solver = NBSSolver(); # initialize a solver

julia> prob = pctapf_problem_1(solver); # initialize the problem

julia> solution, cost = solve!(solver,prob); # solve it

julia> optimal_status(solver) # check the solution status

A short tutorial can be found: https://github.com/sisl/TaskGraphs.jl/blob/master/docs/TaskGraphTutorial.ipynb

This package contains the source code for the following papers

Optimal Sequential Task Assignment and Path Finding for Multi Agent Robotic Assembly Planning, Kyle Brown, Oriana Peltzer, Martin Sehr, Mac Schwager, Mykel Kochenderfer, in International Conference on Robotics and Automation (ICRA), 2020 arXiv