Revision 212:76dde0ef7b90

View differences:

.classpath
22 22
			<attribute name="maven.pomderived" value="true"/>
23 23
		</attributes>
24 24
	</classpathentry>
25
	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6">
25
	<classpathentry kind="con" path="org.eclipse.m2e.MAVEN2_CLASSPATH_CONTAINER">
26 26
		<attributes>
27 27
			<attribute name="maven.pomderived" value="true"/>
28 28
		</attributes>
29 29
	</classpathentry>
30
	<classpathentry kind="con" path="org.eclipse.m2e.MAVEN2_CLASSPATH_CONTAINER">
30
	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7">
31 31
		<attributes>
32 32
			<attribute name="maven.pomderived" value="true"/>
33 33
		</attributes>
misc/eclipse/TriangulationGenerator (alex).launch
8 8
</listAttribute>
9 9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10 10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.TriangulationGenerator"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile /home/capino/projects/deconfliction/3rdparty/mrs2dplan/maps/78_obstacles.xml -dispersion 30 -connectionradius 25 -bodyradius 10  -outfile src/main/resources/d-environments/101.xml -showvis"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile /home/capino/projects/deconfliction/3rdparty/mrs2dplan/maps/101.xml -dispersion 40 -connectionradius 42 -bodyradius 15  -outfile src/main/resources/d-environments/101_r15.xml -showvis -docks"/>
12 12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13 13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14 14
</launchConfiguration>
misc/eclipse/TriangulationGenerator (test).launch
8 8
</listAttribute>
9 9
<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.m2e.launchconfig.classpathProvider"/>
10 10
<stringAttribute key="org.eclipse.jdt.launching.MAIN_TYPE" value="tt.jointeuclid2ni.probleminstance.generator.TriangulationGenerator"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile src/main/resources/environments/empty-bounded.xml -dispersion 50 -connectionradius 45 -bodyradius 30  -outfile src/main/resources/d-environments/empty-bounded.xml -showvis"/>
11
<stringAttribute key="org.eclipse.jdt.launching.PROGRAM_ARGUMENTS" value="-problemfile src/main/resources/environments/ubremen.xml -dispersion 90 -connectionradius 91 -bodyradius 27  -outfile src/main/resources/d-environments/ubremen-r27.xml -showvis -docks"/>
12 12
<stringAttribute key="org.eclipse.jdt.launching.PROJECT_ATTR" value="deconflictiontools"/>
13 13
<stringAttribute key="org.eclipse.jdt.launching.SOURCE_PATH_PROVIDER" value="org.eclipse.m2e.launchconfig.sourcepathProvider"/>
14 14
</launchConfiguration>
pom.xml
24 24
                <artifactId>maven-compiler-plugin</artifactId>
25 25
                <version>3.1</version>
26 26
                <configuration>
27
                    <source>1.6</source>
28
                    <target>1.6</target>
27
                    <source>1.7</source>
28
                    <target>1.7</target>
29 29
                </configuration>
30 30
            </plugin>
31 31
            <plugin>
src/main/java/tt/jointeuclid2ni/probleminstance/VisUtil.java
116 116
                        return problem.getObstacles();
117 117
                    }
118 118

  
119
                }, Color.BLACK, Color.GRAY
119
                }, Color.BLACK, null
120 120
        ));
121 121

  
122 122
        VisManager.registerLayer(LabeledCircleLayer.create(new LabeledCircleLayer.LabeledCircleProvider<tt.euclid2i.Point>() {
......
143 143

  
144 144
    }
145 145

  
146
    public static void visualizeSingleTrajectory(Trajectory trajectory, int bodyRadius, int maxTime) {
146
    private static void visualizeSingleTrajectory(Trajectory trajectory, int bodyRadius, int maxTime) {
147 147
        final Trajectory[] trajInArr = {trajectory};
148 148
        final int[] radInArr = {bodyRadius};
149 149
        final int color = SINGLE_TRAJECTORY_COLOR_SHIFT + singleTrajectoryColorCounter++;
......
243 243
                    return inflatedObstacles;
244 244
                }
245 245
            }
246
        }, Color.YELLOW));
246
        }, Color.CYAN));
247 247

  
248 248

  
249 249
        VisManager.registerLayer(toggleLayer);
src/main/java/tt/jointeuclid2ni/probleminstance/generator/ConflictGenerator.java
2 2

  
3 3
import java.util.ArrayList;
4 4
import java.util.Collection;
5
import java.util.HashSet;
5 6
import java.util.LinkedList;
6 7
import java.util.List;
8
import java.util.Queue;
7 9
import java.util.Random;
8 10
import java.util.Set;
9 11

  
12
import javax.print.attribute.standard.MediaSize.Other;
13

  
10 14
import org.jgrapht.DirectedGraph;
11 15
import org.jgrapht.GraphPath;
16
import org.jgrapht.Graphs;
12 17
import org.jgrapht.alg.AStarShortestPathSimple;
18
import org.jgrapht.alg.ConnectivityInspector;
13 19

  
14 20
import tt.euclid2i.HeuristicToPoint;
15 21
import tt.euclid2i.Line;
......
24 30
import tt.euclid2i.trajectory.SegmentedTrajectoryFactory;
25 31
import tt.euclid2i.util.SeparationDetector;
26 32
import tt.euclid2i.util.Util;
33
import tt.euclidtime3i.region.MovingCircle;
27 34
import tt.jointeuclid2ni.probleminstance.AgentMission;
28 35
import tt.jointeuclid2ni.probleminstance.AgentMissionImpl;
29 36
import tt.jointeuclid2ni.probleminstance.EarliestArrivalProblem;
......
39 46
    private static final int MAX_SPEED = 1;
40 47
    private static final int MAX_ATTEMPTS_PROBLEM = 500;
41 48
    private static final int MAX_ATTEMPTS_MISSION = 150;
42
    private static final int MAX_ATTEMPTS_START = 5000;
43
    private static final int MAX_ATTEMPTS_TARGET = 5000;
44
    
45
	private static boolean REQUIRE_CONFLICT = true;
46
    private static boolean REQUIRE_START_GOAL_AVOIDING = true;
49
    private static final int MAX_ATTEMPTS_START = 500;
50
    private static final int MAX_ATTEMPTS_TARGET = 500;
51
    private static final int RADIUS_BUFFER_GRACE = 1; 
47 52

  
48
    public static EarliestArrivalProblem generateInstance(Environment environment,
49
		    int[] bodyRadiuses,
50
		    int[][] gridPattern, 
51
		    int step,                                                                 
52
		    Rectangle missionRegion,
53
		    int maxTime,
54
		    boolean oneConflictCluster,
55
		    boolean startGoalAvoiding,
56
		    Random rnd) throws ProblemNotCreatedException {
57
    	
58
    	int nAgents = bodyRadiuses.length;
59
    	
60
        if (missionRegion == null) {
61
            missionRegion = environment.getBoundary().getBoundingBox();
62
        }
63
        
64
        DirectedGraph<Point, Line>[] planningGraphs = createGridGraphs(environment, bodyRadiuses, gridPattern, step);
65
        
66
        List<Point>[] endpoints = fillVertexSets(missionRegion, planningGraphs, bodyRadiuses);
67
        
68
        
69
		ExtensibleProblem problem = createProblem(environment, planningGraphs, bodyRadiuses, endpoints, maxTime, oneConflictCluster, startGoalAvoiding, rnd); 
70
        return problem;
71
    }
72
    
73
	public static EarliestArrivalProblem generateInstance(
74
			Environment environment, 
75
			DirectedGraph<Point, Line> planningGraph,
76
			Collection<Point> docks,
77
			int[] bodyRadiuses, int maxTime, 
78
		    boolean oneConflictCluster,
79
		    boolean startGoalAvoiding,
80
			Random rnd)
81
			throws ProblemNotCreatedException {
82

  
83
		int nAgents = bodyRadiuses.length;
84

  
85
		DirectedGraph<Point, Line>[] planningGraphs = toGraphArray(planningGraph, nAgents);
86
		Collection<Point>[] endpointsArray = toEndpointArray(docks, nAgents);
87
		
88
		ExtensibleProblem problem = createProblem(environment, planningGraphs,
89
				bodyRadiuses, endpointsArray, maxTime, oneConflictCluster,
90
				startGoalAvoiding, rnd);
91

  
92
		if (planningGraph != null) {
93
			problem.setPlanningGraph(planningGraph);
94
		}
95

  
96
		return problem;
97
	}
98
	
99 53
    private static DirectedGraph<Point, Line>[] toGraphArray(DirectedGraph<Point, Line> planningGraph, int nAgents) {
100 54

  
101 55
        @SuppressWarnings("unchecked")
......
154 108
        return (int) (3 * bounds.getCorner1().distance(bounds.getCorner2()) / MAX_SPEED);
155 109
    }
156 110
    
111
    public static EarliestArrivalProblem generateInstance(Environment environment,
112
		    int[] bodyRadiuses,
113
		    int[][] gridPattern, 
114
		    int step,                                                                 
115
		    Rectangle missionRegion,
116
		    int maxTime,
117
		    boolean oneCluster, boolean sgAvoiding, 
118
		    Random rnd) throws ProblemNotCreatedException {
119
    	
120
        if (missionRegion == null) {
121
            missionRegion = environment.getBoundary().getBoundingBox();
122
        }
123
        
124
        DirectedGraph<Point, Line>[] planningGraphs = createGridGraphs(environment, bodyRadiuses, gridPattern, step);
125
        
126
        List<Point>[] endpoints = fillVertexSets(missionRegion, planningGraphs, bodyRadiuses);
127
        
128
        
129
		ExtensibleProblem problem = createProblem(environment, planningGraphs, bodyRadiuses, endpoints, maxTime, oneCluster, sgAvoiding, rnd); 
130
        return problem;
131
    }
157 132
    
133
	public static EarliestArrivalProblem generateInstance(
134
			Environment environment, 
135
			DirectedGraph<Point, Line> planningGraph,
136
			Collection<Point> docks,
137
			int[] bodyRadiuses, int maxTime, 
138
			boolean oneCluster, boolean sgAvoiding, 
139
			Random rnd)
140
			throws ProblemNotCreatedException {
141

  
142
		int nAgents = bodyRadiuses.length;
143

  
144
		DirectedGraph<Point, Line>[] planningGraphs = toGraphArray(planningGraph, nAgents);
145
		Collection<Point>[] endpointsArray = toEndpointArray(docks, nAgents);
146
		
147
		ExtensibleProblem problem = createProblem(environment, planningGraphs, bodyRadiuses, endpointsArray, maxTime, oneCluster, sgAvoiding, rnd);
148

  
149
		if (planningGraph != null) {
150
			problem.setPlanningGraph(planningGraph);
151
		}
152

  
153
		return problem;
154
	}
158 155

  
159 156
	static private ExtensibleProblem createProblem(
160 157
    		Environment environment, 
......
193 190
        }
194 191
    }
195 192

  
196
//    static private  void fillProblemWithAgentsStartGoalAvoiding(ExtensibleProblem problem, List<Point>[] listsOfVertices) throws MissionNotAddedException {
197
//    	int[] bodyRadiuses = problem.getBodyRadiuses();
198
//    	int nAgents = problem.getBodyRadiuses().length;
199
//    	
200
//    	int attempts = 0;
201
//    	boolean success = false;
202
//    	AgentMission[] missions = null;
203
//    	do {
204
//
205
//    		attempts++;
206
//    		Verbose.printf(" -- -- -- -- attempt %d to find start-goal avoiding missions... ", attempts);
207
//	    	// Generate mutually disjoint starts and goals
208
//
209
//    		missions = new AgentMission[nAgents];
210
//    		Collection<Region> startGoalRegions = new LinkedList<Region>();
211
//    		for (int agent = 0; agent < nAgents; agent++) {
212
//	        	List<Point> list = filterVertices(listsOfVertices[agent], startGoalRegions, bodyRadiuses[agent]);
213
//	        	Point start = randomVertex(list);
214
//	        	startGoalRegions.add(new Circle(start, bodyRadiuses[agent]));
215
//
216
//	        	list = filterVertices(listsOfVertices[agent], startGoalRegions, bodyRadiuses[agent]); // we need to filter the list again to make sure that start and goal won't overlap
217
//	        	Point target = randomVertex(list);
218
//	        	startGoalRegions.add(new Circle(target, bodyRadiuses[agent]));
219
//	        	missions[agent] = new AgentMissionImpl(start, target, bodyRadiuses[agent], 1);
220
//	        }
221
//
222
//	        try {
223
//	        	Trajectory[] trajectories = new Trajectory[nAgents];
224
//
225
//		        // Try to find start/goal avoiding trajectories
226
//		        for (int agent = 0; agent < nAgents; agent++) {
227
//		        	 DirectedGraph<Point, Line> graph = removeStartsTargetsOfOtherAgents(planningGraphs[agent], missions, agent);
228
//		        	 trajectories[agent] = solveMission(graph, missions[agent]);
229
//		        }
230
//		        success = true;
231
//
232
//	        }
233
//	        catch (PathNotFoundException e) {
234
//	        	Verbose.print(" ...failed\n");
235
//	        	success = false;
236
//	        }
237
//    	} while (!(success || attempts > MAX_ATTEMPTS_MISSION));
238
//
239
//    	if (success) {
240
//    		for (AgentMission mission : missions) {
241
//    			problem.addAgent(mission);
242
//    		}
243
//    	} else {
244
//    		throw new MissionNotAddedException();
245
//    	}
246
//
247
//    }
248

  
249 193
    static private List<Point> filterVertices(List<Point> list, Collection<Region> startGoalRegions, int agentBodyRadius) {
250 194

  
251 195
    	Collection<Region> inflatedRegions = Util.inflateRegions(startGoalRegions, agentBodyRadius);
......
267 211

  
268 212
        int attempts = 0;
269 213
        do {
270
            try {
271
                AgentMission mission = generateMission(problem, bodyRadius, possibleEndpoints, !requireStartGoalAvoiding, rnd);
272

  
273
               	Trajectory trajectory = solveMission(planningGraph, mission, maxTime, problem.getAgentMissions(), requireStartGoalAvoiding);
274

  
214
            
215
            AgentMission mission = generateMission(problem, bodyRadius, possibleEndpoints, false, requireStartGoalAvoiding, planningGraph, problem.getAgentMissions(), rnd);
216
           	Trajectory trajectory = solveMission(planningGraph, mission, maxTime, problem.getAgentMissions(), requireStartGoalAvoiding);
217
           	
218
           	if (trajectory != null) {
275 219
               	if (otherTrajectories.isEmpty() || (requireConflict ? SeparationDetector.hasAnyPairwiseConflict(trajectory, otherTrajectoriesArray, separations, 5) : true)) {
276
                    problem.addAgent(mission);
220
               		problem.addAgent(mission);
277 221
                    otherTrajectories.add(trajectory);
278 222
                    return;
279 223
                }
280

  
281
            } catch (PathNotFoundException e) {
282
            }
224
           	}
283 225
        } while (attempts++ < MAX_ATTEMPTS_MISSION);
284 226

  
285 227
        throw new MissionNotAddedException();
......
293 235
        return separations;
294 236
    }
295 237

  
296
    static private AgentMission generateMission(ExtensibleProblem problem, int bodyRadius, Collection<Point> possibleEndpoints, boolean startAndGoalsCanOverlap, Random rnd) throws MissionNotAddedException {
238
	static private AgentMission generateMission(ExtensibleProblem problem,
239
			int bodyRadius, Collection<Point> possibleEndpoints,
240
			boolean startAndGoalsCanOverlap, boolean sgAvoiding, 
241
			DirectedGraph<Point, Line> planningGraph, AgentMission[] otherMissions, 
242
			Random rnd) throws MissionNotAddedException {
297 243

  
298 244
        Point start = null;
299 245
        int startPointAttempts = 0;
246
        
247
        boolean collidesWithOtherStart;
248
        boolean collidesWithOtherGoal;
249
        boolean connectivityLost; 
300 250
        do {
301 251
            start = randomVertex(possibleEndpoints, rnd);
252
            Verbose.printf(" -- -- -- -- -- trying start S:%s %n", start);
302 253

  
303 254
            if (startPointAttempts++ > MAX_ATTEMPTS_START) {
304 255
                throw new MissionNotAddedException();
305 256
            }
306
        } while (collidesWithOtherStartPoint(start, bodyRadius, problem));
257
            
258
            collidesWithOtherStart = collidesWithOtherStart(start, bodyRadius, problem);
259
            collidesWithOtherGoal = (!startAndGoalsCanOverlap ? collidesWithOtherTarget(start, bodyRadius, problem) : false);
260
            connectivityLost = (sgAvoiding ? !maintainsConnectivityIfRemoved(start, null, bodyRadius, planningGraph, otherMissions) : false);
261
            Verbose.printf(" -- -- -- -- -- -- start collision: %b goal collision: %b connectivityLost: %b %n", collidesWithOtherStart, collidesWithOtherGoal, connectivityLost);
262
            
263
        } while (collidesWithOtherStart || collidesWithOtherGoal || connectivityLost);
307 264

  
308 265
        Point target = null;
309 266
        int targetPointAttempts = 0;
310 267
        do {
311 268
            target = randomVertex(possibleEndpoints, rnd);
269
            Verbose.printf(" -- -- -- -- -- trying goal G:%s %n", target);
312 270

  
313 271
            if (targetPointAttempts++ > MAX_ATTEMPTS_TARGET) {
314 272
                throw new MissionNotAddedException();
315 273
            }
316
        } while (collidesWithOtherTargetPoint(target, bodyRadius, problem) || start == target ||
317
        		!startAndGoalsCanOverlap ? startsGoalsOverlap(start, target, bodyRadius, problem): false);
274
            
275
            collidesWithOtherGoal = collidesWithOtherTarget(start, bodyRadius, problem);
276
            collidesWithOtherStart = (!startAndGoalsCanOverlap ? collidesWithOtherStart(start, bodyRadius, problem) : false);
277
            connectivityLost = (sgAvoiding ? !maintainsConnectivityIfRemoved(start, target, bodyRadius, planningGraph, otherMissions) : false);
278

  
279
            
280
        } while (start == target || collidesWithOtherGoal || collidesWithOtherStart || connectivityLost);
318 281

  
319 282
        Verbose.printf(" -- -- -- -- new random mission S:%s G:%s%n", start, target);
320 283

  
321 284
        return new AgentMissionImpl(start, target, bodyRadius, MAX_SPEED);
322 285
    }
286
	
287
	private static boolean maintainsConnectivityIfRemoved(Point start, Point target, 
288
			int bodyRadius, DirectedGraph<Point, Line> planningGraph, 
289
			AgentMission[] otherMissions) {
290
		
291
		for (int i=0; i<otherMissions.length; i++) {
292
			// check connectivity for agent i
293
			Point otherAgentStart = otherMissions[i].getStart();
294
			Point otherAgentTarget = otherMissions[i].getTarget(); 
295
			int otherAgentBodyRadius = otherMissions[i].getBodyRadius();
296
			AgentMission[] otherAgentOtherMissions = new AgentMission[otherMissions.length];
297
			
298
			int j=0;
299
			for (AgentMission mission : otherMissions) {
300
				if (!mission.getStart().equals(otherAgentStart)) {
301
					otherAgentOtherMissions[j] = mission; 
302
					j++;
303
				}
304
			}
305
			
306
			if (target == null) {
307
				// Hack! We will put start = target to be able to reuse removeStartsTargetsOfOtherAgents method
308
				otherAgentOtherMissions[j] = new AgentMissionImpl(start, start, bodyRadius, 1); 
309
			} else {
310
				otherAgentOtherMissions[j] = new AgentMissionImpl(start, target, bodyRadius, 1); 
311
			}
312
			
313
			DirectedGraph<Point, Line> augmentedGraph = removeStartsTargetsOfOtherAgents(planningGraph, otherAgentOtherMissions, otherAgentBodyRadius);
314
			
315
			if (!isReachable(otherAgentStart, otherAgentTarget, augmentedGraph)) {
316
				Verbose.printf(" -- -- -- -- -- -- reachablility lost between: %s and: %s %n", otherAgentStart, otherAgentTarget);
317
				return false;
318
			}
319
		}
320
		
321
		return true;
322
	}
323 323

  
324
    private static Trajectory solveMission(DirectedGraph<Point, Line> graph, AgentMission mission, int maxTime, AgentMission[] otherMissions, boolean requireStartGoalAvoiding) throws PathNotFoundException {
325

  
324
	private static Trajectory solveMission(DirectedGraph<Point, Line> graph,
325
			AgentMission mission, int maxTime, AgentMission[] otherMissions,
326
			boolean requireStartGoalAvoiding) {
327
    	
326 328
        Point target = mission.getTarget();
327 329
        Point start = mission.getStart();
330
        int bodyRadius = mission.getBodyRadius();
328 331
        
329 332
        if (requireStartGoalAvoiding) {
330
        	graph = removeStartsTargetsOfOtherAgents(graph, otherMissions, mission.getBodyRadius());
333
        	graph = removeStartsTargetsOfOtherAgents(graph, otherMissions, bodyRadius);
331 334
        }
332 335

  
333 336
        GraphPath<Point, Line> path = AStarShortestPathSimple.findPathBetween(graph, new HeuristicToPoint(target), start, target);
334 337

  
335 338
        if (path == null)
336
            throw new PathNotFoundException();
339
            return null;
337 340

  
341
        assert isReachable(start, target, graph);
342
        
338 343
        return SegmentedTrajectoryFactory.createConstantSpeedTrajectory(path, 0, mission.getMaxSpeed(),
339 344
                maxTime, path.getWeight() / MAX_SPEED);
340 345
    }
......
345 350
    	Collection<Region> startTargetRegions = new LinkedList<Region>();
346 351

  
347 352
    	for (int i=0; i<missions.length; i++) {
348
    		startTargetRegions.add(new Circle(missions[i].getStart(), missions[i].getBodyRadius() + bodyRadius));
349
    		startTargetRegions.add(new Circle(missions[i].getTarget(), missions[i].getBodyRadius()  + bodyRadius));
353
    		startTargetRegions.add(new Circle(missions[i].getStart(), missions[i].getBodyRadius() + bodyRadius + RADIUS_BUFFER_GRACE));
354
    		startTargetRegions.add(new Circle(missions[i].getTarget(), missions[i].getBodyRadius()  + bodyRadius + RADIUS_BUFFER_GRACE));
350 355
    	}
351 356

  
352 357
    	return new ObstacleWrapper<Point, Line>(directedGraph, startTargetRegions);
353 358
	}
354 359

  
355
	static private boolean collidesWithOtherStartPoint(Point start, int bodyRadius, ExtensibleProblem currentProblem) {
360
	static private boolean collidesWithOtherStart(Point start, int bodyRadius, ExtensibleProblem currentProblem) {
356 361
		AgentMission[] otherMissions = currentProblem.getAgentMissions();
357 362
        for (AgentMission mission : otherMissions) {
358 363
            double sep = mission.getBodyRadius() + bodyRadius;
......
365 370
        return false;
366 371
    }
367 372

  
368
    static private boolean startsGoalsOverlap(Point start, Point target, int bodyRadius, ExtensibleProblem currentProblem) {
369
    	AgentMission[] otherMissions = currentProblem.getAgentMissions();
370
    	for (AgentMission otherMission : otherMissions) {
371
            double sep = otherMission.getBodyRadius() + bodyRadius;
372

  
373
            // start-start
374
            if (sep / otherMission.getStart().distance(start) > 0.99)
375
                return true;
376

  
377
            // start-target
378
            if (sep / otherMission.getStart().distance(target) > 0.99)
379
                return true;
380

  
381
            // target-target
382
            if (sep / otherMission.getTarget().distance(target) > 0.99)
383
                return true;
384

  
385
            // target-start
386
            if (sep / otherMission.getTarget().distance(start) > 0.99)
387
                return true;
388
        }
389
        return false;
390
    }
391

  
392
	static private boolean collidesWithOtherTargetPoint(Point start, int bodyRadius, ExtensibleProblem currentProblem) {
373
	static private boolean collidesWithOtherTarget(Point start, int bodyRadius, ExtensibleProblem currentProblem) {
393 374
        AgentMission[] otherMissions = currentProblem.getAgentMissions();
394 375
        for (AgentMission mission : otherMissions) {
395 376
            double sep = mission.getBodyRadius() + bodyRadius;
......
401 382
        }
402 383
        return false;
403 384
    }
385
	
386
	static private boolean isReachable(Point from, Point to, DirectedGraph<Point, Line> graph) {
387
		Queue<Point> open = new LinkedList<Point>();
388
		Set<Point> closed = new HashSet<Point>();
389
		
390
		open.add(from);
391
		
392
		while(!open.isEmpty()) {
393
			Point current = open.poll();
394
			
395
			if (current.equals(to)) {
396
				return true;
397
			}
398
			
399
			for (Line edge : graph.outgoingEdgesOf(current)) {
400
				Point neighbor = Graphs.getOppositeVertex(graph, edge, current);
401
				if (!closed.contains(neighbor)) {
402
					open.add(neighbor);
403
					closed.add(neighbor);
404
				}
405
			}
406
		}
407
		
408
		return false;
409
	}
404 410
    
405 411
    private static Point randomVertex(Collection<Point> list, Random rnd) {
406 412
        int size = list.size();
src/main/java/tt/jointeuclid2ni/probleminstance/generator/GenerateInstance.java
23 23

  
24 24
public class GenerateInstance {
25 25
	
26
	enum Method {DEFAULT, START_AVOIDING_DOCK_TO_DOCK}
27

  
28 26
	private static final int MAXTIME = 2000;
29 27

  
30 28
	public static EarliestArrivalProblem generateInstance(
31 29
			String environmentFile, int agents, int radius, int patternNumber,
32
			int step, int seed, Rectangle missionArea, 
33
			boolean oneConflictCluster, boolean startGoalAvoidingPaths) throws ProblemNotCreatedException {
30
			int step, int seed, Rectangle missionArea, boolean oneCluster, boolean sgAvoiding) throws ProblemNotCreatedException {
34 31

  
35 32
        EarliestArrivalProblem problem = readProblem(environmentFile);
36 33

  
......
49 46
        	} else {
50 47
        		docks = problem.getPlanningGraph().vertexSet();
51 48
        	}
52
        	instance = ConflictGenerator.generateInstance(problem.getEnvironment(), problem.getPlanningGraph(), docks, bodyRadiuses, MAXTIME, oneConflictCluster, startGoalAvoidingPaths, new Random(seed));
49
			instance = ConflictGenerator.generateInstance(
50
					problem.getEnvironment(), problem.getPlanningGraph(),
51
					docks, bodyRadiuses, MAXTIME, oneCluster, sgAvoiding,
52
					new Random(seed));
53 53
        } else {
54
        	instance = ConflictGenerator.generateInstance(problem.getEnvironment(), bodyRadiuses, pattern, step, missionArea, MAXTIME, oneConflictCluster, startGoalAvoidingPaths, new Random(seed));
54
			instance = ConflictGenerator.generateInstance(
55
					problem.getEnvironment(), bodyRadiuses, pattern, step,
56
					missionArea, MAXTIME, oneCluster, sgAvoiding, 
57
					new Random(seed));
55 58
        }
56 59
        
57 60
        return instance;
......
111 114

  
112 115
        if (stepStr != null)
113 116
            step = Integer.parseInt(stepStr);
117
        
118
        
119
        boolean oneCluster =  Args.isArgumentSet(args, "-onecluster");
120
        boolean sgAvoiding = Args.isArgumentSet(args, "-sgavoiding");
114 121

  
115 122
        int seed = Integer.parseInt(Args.getArgumentValue(args, "-seed", true));
116 123

  
......
131 138
                    new Point(Integer.getInteger(parts[0]), Integer.getInteger(parts[1]))
132 139
            );
133 140
        }
134
        
135
        boolean oneConflictCluster = Args.isArgumentSet(args, "-onecluster");
136
        boolean startGoalAvoiding = Args.isArgumentSet(args, "-startgoalavoiding");
137 141

  
138
		EarliestArrivalProblem instance
139
        	= generateInstance(environmentFile, agents, radius, patternNumber, step, seed, missionArea, oneConflictCluster, startGoalAvoiding);
142
        EarliestArrivalProblem instance
143
        	= generateInstance(environmentFile, agents, radius, patternNumber, step, seed, missionArea, oneCluster, sgAvoiding);
140 144

  
141 145
        PrintStream outStream = System.out;
142 146

  
src/main/java/tt/jointeuclid2ni/probleminstance/generator/TriangulationGenerator.java
11 11
import java.util.Collections;
12 12
import java.util.Iterator;
13 13
import java.util.LinkedList;
14
import java.util.List;
14 15

  
15 16
import org.apache.commons.lang3.ArrayUtils;
16 17
import org.jgrapht.DirectedGraph;
......
80 81
        	Polygon polygon = Util.breakPolygonToMaxLenSegments((Polygon) region, connectionRadius-1);
81 82
        	customPoints.addAll(Arrays.asList(polygon.getPoints()));
82 83
        }
83
		Region moreInflatedBoundary = Util.inflateRegions(Collections.singleton(boundaryRegion), bodyRadius+2).iterator().next();
84
        Polygon brokenBoundary = Util.breakPolygonToMaxLenSegments((Polygon) moreInflatedBoundary, connectionRadius-1);
85
        customPoints.addAll(Arrays.asList(brokenBoundary.getPoints()));
84
		
85
		Collection<Point> docks = new LinkedList<Point>();
86
		Collection<Region> moreInflatedBoundaries = Util.inflateRegions(Collections.singleton(boundaryRegion), bodyRadius+2);
87
		for (Region moreInflatedBoundary : moreInflatedBoundaries) {
88
			Polygon brokenBoundary = Util.breakPolygonToMaxLenSegments((Polygon) moreInflatedBoundary, connectionRadius-1);
89
			customPoints.addAll(Arrays.asList(brokenBoundary.getPoints()));
90
			docks.addAll(Arrays.asList(brokenBoundary.getPoints()));
91
		}
86 92
        
87
        Collection<Point> docks = null;
88
        if (addDocks) {
89
        	docks = Util.selectDispersedPoints(Arrays.asList(brokenBoundary.getPoints()), 2*bodyRadius+1);
90
        }
93
		if (addDocks) {
94
			docks = Util.selectDispersedPoints(docks, 2*bodyRadius+1);
95
		}
96

  
91 97
        
92 98
//        Collection<Region> polygonsForGraphBoundary = new LinkedList<Region>();
93 99
//        polygonsForGraphBoundary.addAll(Util.inflateRegions(obstacles, bodyRadius+1));
src/main/java/tt/jointeuclid2ni/solver/Parameters.java
1 1
package tt.jointeuclid2ni.solver;
2 2

  
3
import java.io.File;
4

  
3 5
import tt.euclid2i.discretization.LazyGrid;
4 6

  
5 7
public class Parameters {
......
24 26

  
25 27
    public int roadmapDispersion;
26 28
    public int roadmapConnectionRadius;
29
	public File bgImageFile;
30
	public String activityLogFile;
31
	public int noOfClusters;
27 32
}
src/main/java/tt/jointeuclid2ni/solver/impl/AbstractDPMBasedAlgorithm.java
9 9
import tt.euclid2i.Point;
10 10
import tt.euclidtime3i.L1Heuristic;
11 11
import tt.euclidtime3i.L2Heuristic;
12
import tt.euclidtime3i.PerfectBasedHeuristic;
12
import tt.euclidtime3i.ShortestPathHeuristic;
13 13
import tt.euclidtime3i.discretization.softconstraints.BumpSeparationPenaltyFunction;
14 14
import tt.euclidtime3i.discretization.softconstraints.PenaltyFunction;
15 15
import tt.jointtraj.separableflow.AStarTrajectoryOptimizer;
......
49 49
        for (int i = 0; i < problem.nAgents(); i++) {
50 50
            switch (params.heuristic) {
51 51
            case PERFECT:
52
                heuristics[i] = new PerfectBasedHeuristic(graph[i], problem.getTarget(i));
52
                heuristics[i] = new ShortestPathHeuristic(graph[i], problem.getTarget(i));
53 53
                break;
54 54

  
55 55
            case L1:
src/main/java/tt/jointeuclid2ni/solver/impl/AlgorithmIIHP.java
11 11
import tt.euclid2i.EvaluatedTrajectory;
12 12
import tt.euclid2i.Line;
13 13
import tt.euclid2i.Point;
14
import tt.euclidtime3i.PerfectBasedHeuristic;
14
import tt.euclidtime3i.ShortestPathHeuristic;
15 15
import tt.euclidtime3i.discretization.softconstraints.BumpSeparationPenaltyFunction;
16 16
import tt.euclidtime3i.discretization.softconstraints.LinearSeparationPenaltyFunction;
17 17
import tt.euclidtime3i.discretization.softconstraints.PairwiseConstraint;
......
54 54
        List<Complex> obstacleSamples = HomotopyUtils.sampleObstacles(problem.getObstacles(), random);
55 55
        HValueIntegrator integrator = new HValueAnalyticIntegrator(freeSpaceSamples, obstacleSamples);
56 56

  
57

  
58 57
        // Compute heuristic based on optimal policies on the spatial graph
59 58
        HeuristicToGoal<tt.euclidtime3i.Point>[] heuristics = new HeuristicToGoal[problem.nAgents()];
60 59

  
61 60
        for (int i = 0; i < problem.nAgents(); i++) {
62
            heuristics[i] = new PerfectBasedHeuristic(graph[i], problem.getTarget(i));
61
            heuristics[i] = new ShortestPathHeuristic(graph[i], problem.getTarget(i));
63 62
        }
64 63

  
65 64
        TrajectoryOptimizerWithHomotopyConstraints[] trajectoryOptimizers = new TrajectoryOptimizerWithHomotopyConstraints[problem.nAgents()];
src/main/java/tt/jointeuclid2ni/solver/impl/AlgorithmPP.java
6 6
import tt.euclid2i.Line;
7 7
import tt.euclidtime3i.L1Heuristic;
8 8
import tt.euclidtime3i.L2Heuristic;
9
import tt.euclidtime3i.PerfectBasedHeuristic;
9
import tt.euclidtime3i.ShortestPathHeuristic;
10 10
import tt.euclidtime3i.Point;
11 11
import tt.euclidtime3i.discretization.Straight;
12 12
import tt.jointeuclid2ni.solver.HeuristicType;
......
39 39
        for (int i = 0; i < problem.nAgents(); i++) {
40 40
        	switch (params.heuristic) {
41 41
			case PERFECT:
42
				heuristics[i] = new PerfectBasedHeuristic(spatial[i], problem.getTarget(i));
42
				heuristics[i] = new ShortestPathHeuristic(spatial[i], problem.getTarget(i));
43 43
				break;
44 44

  
45 45
			case L1:
src/main/java/tt/util/Args.java
1 1
package tt.util;
2 2

  
3 3
public class Args {
4
	
5
	
4 6

  
5 7
    public static String getArgumentValue(String[] args, String argName, boolean required) {
6 8
        return getArgumentValue(args, argName, required, null);
src/main/resources/d-environments/101-r10.xml
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<multiagentproblem>
3
<environment>
4
<obstacles>
5
<obstacle>759,211 759,212 758,213 758,230 757,231 757,247 756,248 755,248 752,245 752,242 731,242 730,243 728,243 727,244 725,244 724,245 722,245 721,246 720,246 719,247 717,247 716,248 713,248 711,246 711,245 710,244 710,243 709,242 709,240 708,239 708,237 707,236 707,235 706,234 706,233 705,232 704,232 703,231 703,224 704,223 708,223 709,222 711,222 712,221 714,221 715,220 717,220 719,218 721,218 722,217 724,217 725,216 727,216 728,215 745,215 745,214 746,213 750,213 750,205 751,204 752,204 753,205 753,206 754,207 754,210 758,210 </obstacle>
6
<obstacle>872,187 877,187 878,188 878,192 879,193 879,201 880,202 880,209 881,210 881,216 882,217 882,223 883,224 883,227 881,229 877,229 876,228 876,226 875,225 875,219 874,218 874,215 865,215 864,214 863,214 862,213 862,207 865,204 870,204 871,203 871,188 </obstacle>
7
</obstacles>
8
<boundary>1083,170 1064,170 1063,169 1063,167 1064,166 1065,166 1066,165 1069,165 1069,144 1066,141 1066,140 1046,140 1046,143 1045,144 1041,144 1040,143 1039,143 1037,141 1016,141 1013,139 1005,139 1004,138 984,138 981,141 980,141 979,142 969,142 969,146 968,147 956,147 956,148 955,149 949,149 948,150 942,150 941,151 938,151 936,149 936,143 895,143 894,144 889,144 888,145 880,145 879,146 873,146 872,147 866,147 865,148 860,148 859,149 854,149 853,150 847,150 846,151 845,151 843,148 843,142 842,141 819,141 818,142 809,142 808,143 808,155 807,156 802,156 801,157 796,157 795,158 790,158 789,159 782,159 781,160 775,160 774,161 774,163 771,165 765,165 764,166 758,166 757,167 726,167 725,168 719,168 718,169 712,169 711,170 702,170 701,171 695,171 694,172 686,172 685,173 678,173 676,171 676,167 675,166 675,164 654,164 653,165 644,165 643,166 642,166 642,178 641,179 637,179 636,180 630,180 629,181 623,181 622,182 616,182 615,183 609,183 608,184 608,187 607,188 603,188 603,196 600,198 596,198 595,199 571,199 571,200 570,201 569,201 567,199 567,192 545,192 544,193 539,193 538,194 531,194 530,195 525,195 524,196 517,196 516,197 511,197 509,195 509,192 508,191 508,187 488,187 487,188 477,188 475,190 475,201 472,203 467,203 466,204 459,204 458,205 457,205 457,207 455,210 442,210 442,211 441,212 427,212 426,213 421,213 420,214 385,214 384,215 378,215 377,216 371,216 370,217 363,217 362,218 356,218 355,219 349,219 348,220 344,220 343,219 343,216 342,215 342,210 319,210 318,211 310,211 308,213 308,224 305,226 299,226 299,230 297,232 296,232 295,233 290,233 289,234 282,234 281,235 258,235 257,236 250,236 249,235 249,230 248,229 248,222 247,221 247,215 246,214 246,208 245,207 245,200 244,199 244,193 243,192 243,186 242,185 242,180 241,179 241,172 221,172 221,211 222,212 222,213 224,216 224,220 225,221 225,227 226,228 226,231 227,232 227,239 226,240 224,240 223,241 216,241 215,242 209,242 208,243 202,243 201,244 194,244 193,245 186,245 185,246 171,246 170,247 156,247 155,248 146,248 146,249 144,251 144,257 143,258 142,257 142,255 118,255 117,256 112,256 111,257 105,257 104,258 98,258 97,259 91,259 90,260 87,260 86,261 86,275 85,276 85,313 84,314 84,318 82,321 82,345 83,346 103,346 104,345 105,346 105,351 109,351 111,353 113,353 117,357 117,378 133,378 134,379 139,379 141,382 160,382 161,383 173,383 174,384 174,385 195,385 195,383 198,380 204,380 205,381 205,395 206,396 220,396 221,397 252,397 253,396 253,381 254,380 254,345 256,343 261,343 262,344 290,344 291,345 317,345 318,346 344,346 345,347 368,347 369,348 391,348 392,349 417,349 418,350 438,350 439,349 440,349 440,336 442,334 445,337 445,351 471,351 472,352 494,352 494,341 495,340 495,338 496,337 497,337 498,338 520,338 523,341 523,353 524,354 572,354 572,341 574,339 575,339 576,340 576,341 577,341 578,342 578,356 609,356 610,357 627,357 629,359 629,361 630,362 630,367 629,368 629,369 627,371 627,372 626,373 625,373 625,374 624,375 624,385 623,386 623,387 621,389 620,389 616,394 615,394 614,395 614,408 613,409 613,410 611,412 610,412 610,413 608,416 608,437 638,437 638,432 640,429 642,429 642,426 643,425 644,426 644,436 645,437 668,437 668,427 669,426 672,426 673,425 674,426 674,428 678,428 679,429 679,432 680,433 680,438 682,438 683,439 709,439 709,419 707,417 706,417 703,414 703,409 702,408 702,403 701,402 701,397 699,397 698,396 698,374 697,373 697,372 695,370 695,368 694,367 694,366 695,365 695,362 698,359 704,359 704,345 705,344 712,344 712,343 714,341 733,341 734,340 739,340 739,337 740,336 740,335 742,333 747,333 749,335 765,335 766,336 766,342 772,342 773,343 773,355 794,355 795,354 799,358 799,363 811,363 812,364 847,364 847,357 848,356 849,356 850,357 875,357 877,355 892,355 893,356 909,356 910,357 911,357 913,360 913,367 937,367 938,368 983,368 984,369 1016,369 1017,370 1056,370 1056,349 1050,343 1050,342 1049,341 1050,340 1071,340 1071,311 1068,309 1068,308 1069,307 1069,297 1070,296 1071,296 1071,275 1070,274 1070,272 1069,271 1071,269 1073,269 1073,260 1074,259 1074,253 1075,252 1075,231 1077,229 1077,203 1078,202 1078,201 1083,197 </boundary>
9
</environment>
10
<graph>
11
<vertices>837,158 879,158 900,158 921,158 963,158 984,158 1005,158 1026,158 1047,158 732,179 753,179 774,179 795,179 816,179 837,179 858,179 900,179 921,179 942,179 963,179 984,179 1005,179 1026,179 1047,179 627,200 648,200 669,200 690,200 711,200 732,200 774,200 795,200 816,200 837,200 900,200 921,200 942,200 963,200 984,200 1005,200 1026,200 1047,200 459,221 480,221 501,221 522,221 543,221 564,221 585,221 606,221 627,221 648,221 669,221 690,221 774,221 795,221 816,221 837,221 900,221 921,221 942,221 963,221 984,221 1005,221 1026,221 1047,221 312,242 333,242 354,242 375,242 396,242 417,242 438,242 459,242 480,242 501,242 522,242 543,242 564,242 585,242 606,242 627,242 648,242 669,242 690,242 774,242 795,242 816,242 837,242 858,242 879,242 900,242 921,242 942,242 963,242 984,242 1005,242 1026,242 1047,242 165,263 186,263 207,263 228,263 249,263 270,263 291,263 312,263 333,263 354,263 375,263 396,263 417,263 438,263 459,263 480,263 501,263 522,263 543,263 564,263 585,263 606,263 627,263 648,263 669,263 690,263 711,263 732,263 753,263 774,263 795,263 816,263 837,263 858,263 879,263 900,263 921,263 942,263 963,263 984,263 1005,263 1026,263 1047,263 102,284 123,284 144,284 165,284 186,284 207,284 228,284 249,284 270,284 291,284 312,284 333,284 354,284 375,284 396,284 417,284 438,284 459,284 480,284 501,284 522,284 543,284 564,284 585,284 606,284 627,284 648,284 669,284 690,284 711,284 732,284 753,284 774,284 795,284 816,284 837,284 858,284 879,284 900,284 921,284 942,284 963,284 984,284 1005,284 1026,284 1047,284 102,305 123,305 144,305 165,305 186,305 207,305 228,305 249,305 270,305 291,305 312,305 333,305 354,305 375,305 396,305 417,305 438,305 459,305 480,305 501,305 522,305 543,305 564,305 585,305 606,305 627,305 648,305 669,305 690,305 711,305 732,305 753,305 774,305 795,305 816,305 837,305 858,305 879,305 900,305 921,305 942,305 963,305 984,305 1005,305 1026,305 1047,305 102,326 123,326 144,326 165,326 186,326 207,326 228,326 249,326 270,326 291,326 312,326 333,326 354,326 375,326 396,326 417,326 459,326 480,326 501,326 522,326 543,326 564,326 585,326 606,326 627,326 648,326 669,326 690,326 711,326 732,326 774,326 795,326 816,326 837,326 858,326 879,326 900,326 921,326 942,326 963,326 984,326 1005,326 1026,326 1047,326 123,347 144,347 165,347 186,347 207,347 228,347 627,347 648,347 669,347 690,347 816,347 837,347 921,347 942,347 963,347 984,347 1005,347 1026,347 144,368 165,368 186,368 207,368 228,368 648,368 669,368 648,389 669,389 627,410 648,410 669,410 690,410 695,240 694,239 691,235 691,231 691,224 691,219 694,215 695,214 704,211 706,211 709,210 710,209 719,206 722,205 725,204 728,203 738,203 738,200 741,196 742,195 751,192 752,192 760,195 761,196 764,200 766,201 767,202 770,206 771,211 771,212 770,216 770,230 769,234 769,247 768,251 765,255 764,256 756,260 755,260 746,256 744,254 732,254 730,255 729,255 727,256 726,256 724,257 723,257 719,259 718,259 716,260 713,260 704,256 702,254 699,250 699,249 698,248 698,247 697,246 697,244 696,243 696,241 856,223 854,222 853,221 850,217 850,213 850,207 850,202 853,198 856,195 859,194 859,188 859,183 862,179 863,178 872,175 877,175 885,178 886,179 889,183 890,188 891,193 891,197 892,202 892,205 893,210 893,212 894,217 894,219 895,224 895,227 894,231 891,235 889,237 881,241 877,241 868,237 867,236 864,232 864,230 863,229 863,226 94,334 99,334 100,333 107,333 112,336 113,337 116,341 117,342 118,343 121,344 125,348 128,352 129,357 129,366 133,366 137,366 137,367 139,367 146,370 160,370 164,370 164,371 173,371 177,371 179,373 188,373 189,371 193,368 198,368 204,368 208,368 212,371 213,372 216,376 217,381 217,384 220,384 224,384 224,385 241,385 241,381 241,376 242,376 242,345 242,340 245,336 247,334 251,331 256,331 261,331 265,331 265,332 290,332 294,332 294,333 317,333 321,333 321,334 344,334 348,334 348,335 368,335 372,335 372,336 391,336 395,336 395,337 417,337 421,337 421,338 428,338 428,336 428,331 431,327 433,325 438,322 445,322 450,325 453,328 456,332 457,337 457,339 471,339 475,339 475,340 482,340 482,336 483,335 483,333 486,329 487,328 491,325 496,325 497,325 501,325 520,326 528,329 531,332 534,336 535,341 535,342 560,342 560,341 560,336 563,332 565,330 574,327 575,327 583,330 584,331 585,332 586,333 589,337 590,342 590,344 609,344 611,345 627,345 635,348 637,350 640,354 640,356 641,357 642,362 642,367 641,371 640,372 640,373 638,376 636,379 636,385 635,389 634,390 634,391 631,395 629,397 628,398 626,400 626,408 625,412 624,413 624,414 621,418 620,419 620,425 628,425 630,422 630,421 633,417 634,416 639,413 646,413 651,416 652,417 655,421 655,425 656,425 656,422 659,418 660,417 668,414 669,413 676,413 681,416 682,417 686,419 687,420 690,424 690,427 697,427 697,424 694,422 691,418 691,414 691,412 690,412 690,408 690,406 689,406 689,404 686,400 686,396 686,377 685,377 683,374 683,372 682,371 682,367 682,366 682,361 683,360 683,357 686,353 689,350 692,349 692,345 692,340 695,336 696,335 705,332 706,332 714,329 729,329 731,326 733,324 742,321 747,321 751,323 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113,268 ;106,269 99,270 ;106,269 98,270 ;106,269 98,275 ;106,269 117,268 ;106,269 119,267 ;106,269 97,279 ;106,269 102,284 ;106,269 123,284 ;106,269 135,267 ;106,269 139,269 ;104,270 106,269 ;104,270 99,270 ;104,270 98,270 ;104,270 111,269 ;104,270 98,275 ;104,270 113,268 ;104,270 97,279 ;104,270 117,268 ;104,270 102,284 ;104,270 119,267 ;104,270 123,284 ;104,270 135,267 ;99,270 98,270 ;99,270 104,270 ;99,270 98,275 ;99,270 106,269 ;99,270 97,279 ;99,270 111,269 ;99,270 113,268 ;99,270 102,284 ;99,270 117,268 ;99,270 119,267 ;99,270 123,284 ;98,270 99,270 ;98,270 98,275 ;98,270 104,270 ;98,270 106,269 ;98,270 97,279 ;98,270 111,269 ;98,270 102,284 ;98,270 113,268 ;98,270 117,268 ;98,270 119,267 ;98,270 123,284 ;98,275 97,279 ;98,275 98,270 ;98,275 99,270 ;98,275 104,270 ;98,275 102,284 ;98,275 106,269 ;98,275 111,269 ;98,275 113,268 ;98,275 117,268 ;98,275 119,267 ;98,275 123,284 ;98,275 102,305 ;97,279 98,275 ;97,279 102,284 ;97,279 98,270 ;97,279 99,270 ;97,279 104,270 ;97,279 106,269 ;97,279 111,269 ;97,279 113,268 ;97,279 117,268 ;97,279 119,267 ;97,279 123,284 ;97,279 102,305 ;97,279 97,313 ;97,313 96,317 ;97,313 96,318 ;97,313 102,305 ;97,313 94,324 ;97,313 102,326 ;97,313 100,333 ;97,313 99,334 ;97,313 94,334 ;97,313 107,333 ;97,313 123,305 ;97,313 112,336 ;97,313 113,337 ;97,313 123,326 ;97,313 102,284 ;97,313 116,341 ;97,313 97,279 ;96,317 96,318 ;96,317 97,313 ;96,317 94,324 ;96,317 102,326 ;96,317 102,305 ;96,317 100,333 ;96,317 94,334 ;96,317 99,334 ;96,317 107,333 ;96,317 112,336 ;96,317 113,337 ;96,317 123,326 ;96,317 123,305 ;96,317 116,341 ;96,317 117,342 ;96,317 102,284 ;96,317 118,343 ;96,318 96,317 ;96,318 97,313 ;96,318 94,324 ;96,318 102,326 ;96,318 102,305 ;96,318 100,333 ;96,318 94,334 ;96,318 99,334 ;96,318 107,333 ;96,318 112,336 ;96,318 113,337 ;96,318 123,326 ;96,318 123,305 ;96,318 116,341 ;96,318 117,342 ;96,318 118,343 ;96,318 102,284 ;94,324 96,318 ;94,324 96,317 ;94,324 102,326 ;94,324 94,334 ;94,324 100,333 ;94,324 99,334 ;94,324 97,313 ;94,324 107,333 ;94,324 102,305 ;94,324 112,336 ;94,324 113,337 ;94,324 123,326 ;94,324 121,344 ;94,324 123,305 ;</edges>
13
</graph>
14
<agents/>
15
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16
</multiagentproblem>
src/main/resources/d-environments/101-r15.xml
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
<multiagentproblem>
3
<environment>
4
<obstacles>
5
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9
</environment>
10
<graph>
11
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12
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13
</graph>
14
<agents/>
15
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16
</multiagentproblem>
src/main/resources/d-environments/101.xml
12 12
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13 13
</graph>
14 14
<agents/>
15
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15
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16 16
</multiagentproblem>
src/main/resources/d-environments/empty-bounded.xml
9 9
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;968,440 957,467 ;968,440 968,396 ;968,440 968,484 ;968,440 957,397 ;968,396 957,397 ;968,396 957,362 ;968,396 957,432 ;968,396 968,352 ;968,396 968,440 ;968,352 957,362 ;968,352 957,327 ;968,352 968,396 ;968,352 968,308 ;968,308 957,292 ;968,308 957,327 ;968,308 968,264 ;968,308 968,352 ;968,264 957,257 ;968,264 957,292 ;968,264 957,222 ;968,264 968,220 ;968,264 968,308 ;968,220 957,222 ;968,220 957,187 ;968,220 957,257 ;968,220 968,176 ;968,220 968,264 ;968,176 957,187 ;968,176 957,152 ;968,176 968,220 ;968,176 968,132 ;968,132 957,117 ;968,132 957,152 ;968,132 968,88 ;968,132 968,176 ;968,88 957,82 ;968,88 957,117 ;968,88 957,47 ;968,88 968,132 ;968,88 968,44 ;968,44 957,47 ;968,44 968,32 ;968,44 957,82 ;968,44 968,88 ;</edges>
10 10
</graph>
11 11
<agents/>
12
<docks>968,32 880,32 792,32 704,32 616,32 528,32 440,32 352,32 264,32 176,32 88,32 32,76 32,164 32,252 32,340 32,428 32,516 32,604 32,692 32,780 32,868 32,956 120,968 208,968 296,968 384,968 472,968 560,968 648,968 736,968 824,968 912,968 968,924 968,836 968,748 968,660 968,572 968,484 968,396 968,308 968,220 968,132 </docks>
12 13
</multiagentproblem>
src/main/resources/d-environments/ubremen-r25.xml
1
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3
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23
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24
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25
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26
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27
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28
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29
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30
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2050,890 ;2097,865 2043,841 ;2108,855 2097,865 ;2108,855 2123,851 ;2108,855 2121,843 ;2108,855 2076,843 ;2108,855 2081,878 ;2108,855 2071,886 ;2108,855 2121,798 ;2108,855 2051,870 ;2108,855 2166,843 ;2108,855 2118,796 ;2123,851 2121,843 ;2123,851 2108,855 ;2123,851 2166,843 ;2123,851 2168,850 ;2123,851 2076,843 ;2123,851 2121,798 ;2123,851 2137,799 ;2123,851 2118,796 ;2168,850 2166,843 ;2168,850 2183,853 ;2168,850 2199,848 ;2168,850 2197,832 ;2168,850 2210,860 ;2168,850 2123,851 ;2168,850 2121,843 ;2168,850 2202,816 ;2168,850 2216,863 ;2168,850 2166,798 ;2168,850 2199,800 ;2168,850 2211,809 ;2168,850 2154,792 ;2168,850 2137,799 ;2183,853 2168,850 ;2183,853 2195,863 ;2183,853 2199,848 ;2183,853 2166,843 ;2183,853 2197,832 ;2183,853 2210,860 ;2183,853 2216,863 ;2183,853 2202,816 ;2183,853 2217,886 ;2183,853 2199,800 ;2183,853 2166,798 ;2195,863 2210,860 ;2195,863 2199,848 ;2195,863 2183,853 ;2195,863 2216,863 ;2195,863 2211,886 ;2195,863 2197,832 ;2195,863 2217,886 ;2195,863 2166,843 ;2211,886 2217,886 ;2211,886 2216,863 ;2211,886 2210,860 ;2211,886 2195,863 ;2211,886 2199,848 ;2211,886 2197,832 ;2217,886 2211,886 ;2217,886 2216,863 ;2217,886 2210,860 ;2217,886 2195,863 ;2217,886 2199,848 ;2217,886 2183,853 ;2216,863 2210,860 ;2216,863 2195,863 ;2216,863 2217,886 ;2216,863 2211,886 ;2216,863 2183,853 ;2216,863 2168,850 ;2216,863 2166,843 ;2210,860 2216,863 ;2210,860 2195,863 ;2210,860 2199,848 ;2210,860 2211,886 ;2210,860 2217,886 ;2210,860 2183,853 ;2210,860 2168,850 ;2210,860 2166,843 ;2199,848 2195,863 ;2199,848 2197,832 ;2199,848 2210,860 ;2199,848 2183,853 ;2199,848 2168,850 ;2199,848 2166,843 ;2199,848 2211,886 ;2199,848 2217,886 ;2199,848 2166,798 ;2197,832 2199,848 ;2197,832 2202,816 ;2197,832 2183,853 ;2197,832 2195,863 ;2197,832 2199,800 ;2197,832 2166,843 ;2197,832 2168,850 ;2197,832 2166,798 ;2197,832 2192,785 ;2197,832 2211,886 ;2197,832 2154,792 ;2197,832 2193,772 ;2202,816 2211,809 ;2202,816 2199,800 ;2202,816 2197,832 ;2202,816 2192,785 ;2202,816 2166,798 ;2202,816 2183,853 ;2202,816 2166,843 ;2202,816 2168,850 ;2202,816 2185,766 ;2202,816 2154,792 ;2211,809 2202,816 ;2211,809 2199,800 ;2211,809 2166,798 ;2211,809 2166,843 ;2211,809 2168,850 ;2211,809 2154,792 ;2199,800 2211,809 ;2199,800 2202,816 ;2199,800 2192,785 ;2199,800 2197,832 ;2199,800 2166,798 ;2199,800 2185,766 ;2199,800 2154,792 ;2199,800 2166,843 ;2199,800 2183,853 ;2199,800 2168,850 ;2192,785 2193,772 ;2192,785 2199,800 ;2192,785 2185,766 ;2192,785 2166,798 ;2192,785 2202,816 ;2192,785 2154,792 ;2192,785 2197,832 ;2192,785 2137,799 ;2193,772 2185,766 ;2193,772 2192,785 ;2193,772 2166,798 ;2193,772 215