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constraint-mapf-analysis's Introduction

An Analysis of Constraint-Based Multi-Agent Pathfinding Algorithms - Data and Results

This repository holds all of the data and plots presented in the "An Analysis of Constraint-Based Multi_Agent Pathfinding Algorithms" paper. Raw and compiled data can be found in the Data repository. Grouped and Individual map plots are shown in the Figures directory. All figures are also present within this README.

If you would like to run the data scraper and plot generator, please unzip the stat_files.zip and then use the ExportData jupyter notebook to compile the raw data into csvs. Then, run the Plot jupyter notebook to generate all grouped and individual plots.

If you have any questions, please contact me at [email protected].



Grouped Map Plots

Group Average Runtime Success Rate Flowtime Ratios
Empty plot-Empty plot-Empty plot-Empty
Random plot-Random plot-Random plot-Random
Narrow plot-Narrow plot-Narrow plot-Narrow
Cities plot-Cities plot-Cities plot-Cities
Games plot-Games plot-Games plot-Games


Individual Map Plots

Map Average Runtime Success Rate Flowtime Ratios
empty-8-8 plot-empty-8-8 plot-empty-8-8 plot-empty-8-8
empty-16-16 plot-empty-16-16 plot-empty-16-16 plot-empty-16-16
empty-32-32 plot-empty-32-32 plot-empty-32-32 plot-empty-32-32
empty-48-48 plot-empty-48-48 plot-empty-48-48 plot-empty-48-48
random-32-32-10 plot-random-32-32-10 plot-random-32-32-10 plot-random-32-32-10
random-32-32-20 plot-random-32-32-20 plot-random-32-32-20 plot-random-32-32-20
random-64-64-10 plot-random-64-64-10 plot-random-64-64-10 plot-random-64-64-10
random-64-64-20 plot-random-64-64-20 plot-random-64-64-20 plot-random-64-64-20
room-32-32-4 plot-room-32-32-4 plot-room-32-32-4 plot-room-32-32-4
room-64-64-8 plot-room-64-64-8 plot-room-64-64-8 plot-room-64-64-8
room-64-64-16 plot-room-64-64-16 plot-room-64-64-16 plot-room-64-64-16
maze-32-32-2 plot-maze-32-32-2 plot-maze-32-32-2 plot-maze-32-32-2
maze-32-32-4 plot-maze-32-32-4 plot-maze-32-32-4 plot-maze-32-32-4
maze-128-128-10 plot-maze-128-128-10 plot-maze-128-128-10 plot-maze-128-128-10
maze-128-128-2 plot-maze-128-128-2 plot-maze-128-128-2 plot-maze-128-128-2
Berlin_1_256 plot-Berlin_1_256 plot-Berlin_1_256 plot-Berlin_1_256
Boston_0_256 plot-Boston_0_256 plot-Boston_0_256 plot-Boston_0_256
Paris_1_256 plot-Paris_1_256 plot-Paris_1_256 plot-Paris_1_256
ht_chantry plot-ht_chantry plot-ht_chantry plot-ht_chantry
ht_mansion_n plot-ht_mansion_n plot-ht_mansion_n plot-ht_mansion_n
lak303d plot-lak303d plot-lak303d plot-lak303d
lt_gallowstemplar_n plot-lt_gallowstemplar_n plot-lt_gallowstemplar_n plot-lt_gallowstemplar_n
den312d plot-den312d plot-den312d plot-den312d
ost003d plot-ost003d plot-ost003d plot-ost003d
brc202d plot-brc202d plot-brc202d plot-brc202d
den520d plot-den520d plot-den520d plot-den520d
w_woundedcoast plot-w_woundedcoast plot-w_woundedcoast plot-w_woundedcoast


Graph Statistics and Map Groupings

Type Map Size Res States CBS Min CBS Max PBS Min PBS Max
Empty empty-8-8 8 x 8 1 64 14 24 14 30
2 225 16 30 22 30
4 841 8 30 20 30
empty-16-16 16 x 16 1 256 14 38 20 44
2 961 14 40 24 56
4 3721 2 38 20 50
empty-32-32 32 x 32 1 1024 10 60 32 60
2 3969 10 60 32 60
4 15625 10 42 26 56
empty-48-48 48 x 48 1 2304 22 60 32 60
2 9025 16 54 22 60
4 35721 8 48 10 60
Random random-32-32-10 32 x 32 1 922 8 48 28 58
2 3185 6 46 26 58
4 11575 6 44 16 46
random-32-32-20 32 x 32 1 819 14 40 22 44
2 2468 8 40 22 40
4 8040 8 36 18 40
random-64-64-10 64 x 64 1 3687 4 60 36 60
2 12830 4 60 12 60
4 46764 4 44 4 52
random-64-64-20 64 x 64 1 3270 16 54 26 58
2 10031 8 46 22 48
4 33225 8 36 14 46
Narrow room-32-32-4 32 x 32 1 682 10 24 4 28
2 1902 4 22 4 26
4 5878 4 20 4 26
room-64-64-8 64 x 64 1 3232 6 20 10 26
2 11090 4 18 6 20
4 40630 2 16 4 18
room-64-64-16 64 x 64 1 3646 6 30 10 28
2 13585 6 20 10 22
4 52297 2 18 2 18
maze-32-32-2 32 x 32 1 666 6 18 6 20
2 1951 6 16 6 16
4 6381 2 12 2 16
maze-32-32-4 32 x 32 1 790 2 16 4 20
2 2695 2 16 4 18
4 9853 2 16 2 18
maze-128-128-2 128 x 128 1 10858 2 12 2 10
2 32383 2 4 2 4
4 107437 2 4 2 4
maze-128-128-10 128 x 128 1 14818 2 20 4 20
2 56143 2 10 2 10
4 218317 2 4 2 4
Cities Berlin-1-256 256 x 256 1 47536 8 60 8 60
2 182171 8 28 8 28
4 712615 2 14 2 14
Boston-0-256 256 x 256 1 47747 8 52 8 52
2 181232 2 26 2 26
4 705218 2 10 2 10
Paris-1-256 256 x 256 1 47216 2 46 12 54
2 179271 2 34 4 34
4 697685 2 16 2 16
Games ht-chantry 141 x 162 1 7461 6 26 10 30
2 27912 4 22 4 22
4 107742 2 16 2 16
ht-mansion-n 270 x 133 1 8959 6 40 18 50
2 33376 4 34 8 34
4 128554 2 28 2 28
lak303d 194 x 194 1 14784 2 22 2 18
2 54938 2 16 2 16
4 211230 2 8 2 8
lt-gallowstemplar-n 180 x 251 1 10021 4 32 6 38
2 37637 4 28 4 28
4 145549 4 20 4 20
den312d 81 x 65 1 2445 6 28 20 36
2 8779 6 28 12 30
4 33105 2 18 2 24
ost003d 194 x 194 1 13214 4 22 4 20
2 49986 2 18 2 16
4 194168 2 10 2 12
brc202d 481 x 530 1 43151 2 12 2 12
2 162968 2 10 2 8
4 632432 2 4 2 4
den520d 257 x 256 1 28178 8 42 8 40
2 108918 2 26 2 26
4 427970 2 14 2 14
w-woundedcoast 578 x 642 1 34002 2 14 2 14
2 127838 2 10 2 10
4 495024 0 0 0 0

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