Code for AAAI submission

The repository is developed and tested in Ubuntu 20.04.

Requirements

The code makes use of the external library boost and Cplex.

If you are using Ubuntu, you can install the boost by

sudo apt install libboost-all-dev

If the above method does not work, you can also follow the instructions on the boost website and install it manually.

The required external library Cplex is from IBM. You can follow this guide link from IBM to install the package.

Overall Usage

To compile the code:

cd MASS
mkdir build
cd build
cmake ..
make
cd ..

To run the code

./MASS -k 10 -p 1 -s 0 -m ./random-32-32-20.map -a ./random-32-32-20-random-1.scen -c ./output/random-32-32-20.csv

• m: the map file from the MAPF benchmark
• a: the scenario file from the MAPF benchmark
• c: the output file that contains the search statistics
• p: Determine if enable partial expansion: 0 for disable partial expansion, 1 for enable partial expansion
• s: Determine which solver to use: 0 for BAS, 1 for BCS
• k: the number of agents