Welcome to PlanViz! This is an offline (i.e., post-hoc) visualiser for analysing solutions to multi-robot and multi-agent coordination problems. It is developed as a support tool for participants in the League of Robot Runners competition. However, PlanViz can also be used for a variety of similar problems which are outside the scope of the competition.

PlanViz is implemented in python using the tkinter, a Tcl/Tk GUI toolkit. An example of the application in action is shown in the following video.

Please refer to the PlanViz instruction manual for details about how to use this tool and supported features. The following simple example shows how to visualise a plan file, from the JSON formatted descriptions produced by the Robot Runners start-kit.

Open a terminal and type the following command:

python3 script/plan_viz.py --map example/warehouse_small.map --plan example/warehouse_small.json --grid --aid --static --ca

Tracker Transfer is a tool that helps to convert best-known solutions to a wide range of MAPF problems, as published by the community website MAPF Tracker. Once converted, these plans can be visualised with PlanViz.

Please refer to the Tracker Transfer instruction manual for details about how to use this tool and supported features. The following example show how to use Tracker Transfer to convert a single plan, from the CSV formatted output of the MAPF Tracker, to the JSON format of PlanViz:

Open a terminal and type the following command:

python3 script/tracker_transfer.py --plan example/random-32-32-20_random_1_300.csv --scen example/random-32-32-20-random-1.scen --outputFile example/transfer_result

The MAPF Tracker also supports exporting multiple plans at the same time, from a bulk export CSV file (downloadable here) to multiple PlanViz output files. To learn more about this feature please refer to the instruction manual.