Behaviour-based large-scale planning Fleet Management System Evaluation
- 1. Fraunhofer IML
This dataset was generated within the SafeLog project while evaluating the performance of a decentralized Fleet Management System (MARS). MARS attempts to find a solution to the multi-agent path finding problem in a decentralized manner, by representing each component as an autonomous agent. We compared the results of a large set of routing assignments within a benchmarking environment to a centralized planner, with respect to the goodness of the resulting routes as well as the computation time. The results can be found in the "MARS" directory within the dataset.
We further investigated ROS 2 as a potential framework for an upcoming iteration of the software. To that end, an abstraction of the architecture was built in ROS and ROS 2, in order to compare the communication overhead in the context of a very large number of nodes. The results of this can be found in the "ROS" directory.
Please refer to the README.md for further explanation.