PlanViz

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.

Installation

This project requires Python 3.10 or higher. Choose one of the following methods to install the required packages.

Option1: Using venv

1. Clone the repository:

   git clone https://github.com/MAPF-Competition/PlanViz.git
   cd PlanViz

2. Verify your Python version:

   Before creating the environment, check your default python3 version. If the output version is less than 3.10, you'll need to use a specific Python command for a newer version you have installed (e.g., python3.10, python3.11).

   python3 --version

3. Create and activate a virtual environment:

   • macOS / Linux:

     python3 -m venv venv
     source venv/bin/activate

   • Windows:

     python -m venv venv
     .\venv\Scripts\activate

4. Install the required packages:

   pip install -r requirements.txt

Option 2: Using Conda

1. Clone the repository:

   git clone https://github.com/MAPF-Competition/PlanViz.git
   cd PlanViz

2. Create and activate a conda environment:

   conda create --name planviz python=3.10
   conda activate planviz

3. Install the required packages:

   pip install -r requirements.txt

Run

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/run.py --map example/warehouse_small.map --plan example/warehouse_small_2024.json

Tracker Transfer

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.