Benchmark maps and assignments for multi-agent path finding

The dataset

The dataset is produced within the SafeLog project and it is used for benchmarking of multi-agent path planning algorithms. Specifically, the dataset consists of a set of 21 maps with increasing density and a set of 500 random assignments, each for a group of 100 agents for planning on each of the maps.

All of the maps, in the form of a graph G = {V, E}, are built on the same set of 400 vertices V. The sets of edges Ej, where j ∈ (0; 20), in the maps then form a set ranging from a spanning tree to a mostly 4-connected graph. These maps were created by generating a complete square graph with the size of 20*20 vertices. The graph was then simplified to a spanning tree, and, finally, approximately 50 random edges from the complete graph were added 20 times, to create the set of 21 maps of density ranging from 800 to 1500 edges in the graph. 
 

Content and format

The following files are included in the dataset

test_nodes.txt               - 400 nodes of a 20*20 square map in the form "id x y"
testAssignment.txt        - 50499 random pairs of nodes ids from test_nodes.txt
test_edgesX.txt             - pairs of adjacent nodes ids from test_nodes.txt forming edges
            - X = 0 - tree
            - X = 20 - full graph
            - created starting at a full graph and repeatedly erasing edges until a tree remains

To illustrate the maps in the dataset, we provide three images (1008.png, 1190.png, and 1350.png) showing maps with 1008 (1190, 1350) edges. 

Citation

If you use the dataset, please cite:

[1]  Hvězda, J., Rybecký, T., Kulich, M., and Přeučil, L. (2018). Context-Aware Route Planning for Automated Warehouses. Proceedings of 2018 21st International Conference on Intelligent Transportation Systems (ITSC).

@inproceedings{Hvezda18itsc,
  author = {Hvězda, Jakub and Rybecký, Tomáš and Kulich, Miroslav and Přeučil, Libor},
  title = {Context-Aware Route Planning for Automated Warehouses},
  booktitle = {Proceedings of 2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
  publisher = {IEEE Intelligent Transportation Systems Society},
  address = {Maui},
  year = {2018},
  doi = {10.1109/ITSC.2018.8569712},
}

[2] Hvězda, J., Kulich, M., and Přeučil, L. (2019). On Randomized Searching for Multi-robot Coordination.  In: Gusikhin O., Madani K. (eds) Informatics in Control, Automation and Robotics. ICINCO 2018. Lecture Notes in Electrical Engineering, vol 613. Springer, Cham.

@inbook{Hvezda19springer,
    author = {Hvězda, Jakub and Kulich, Miroslav and Přeučil, Libor},
    title = {On Randomized Searching for Multi-robot Coordination},
    booktitle = {Informatics in Control, Automation and Robotics},
    publisher = {Springer},
    address = {Cham, CH},
    year = {2019},
    series = {Lecture Notes in Electrical Engineering},
    language = {English},
    url = {https://link.springer.com/chapter/10.1007/978-3-030-31993-9_18},
    doi = {10.1007/978-3-030-31993-9},
}

[3] Hvězda, J., Kulich, M., and Přeučil, L. (2018). Improved Discrete RRT for Coordinated Multi-robot Planning. Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - (Volume 2).

@inproceedings{Hvezda18icinco,
  author = {Hvězda, Jakub and Kulich, Miroslav and Přeučil, Libor},
  title = {Improved Discrete RRT for Coordinated Multi-robot Planning},
  booktitle = {Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - (Volume 2)},
  publisher = {SciTePress},
  address = {Madeira, PT},
  year = {2018},
  language = {English},
  url = {http://www.scitepress.org/PublicationsDetail.aspx?ID=ppwUqsGaX18=\&t=1},
  doi = {10.5220/0006865901710179},
  access = {full}
}