pLaCAM (Practical LaCAM)

LaCAM modified to:

• Prevent following conflicts
• Exit early upon meeting a solution threshold, i.e. number of agents that have reached their goals. Intended to be used iteratively to progressively make global progress.

Building

All you need is CMake (≥v3.16). The code is written in C++(17).

First, clone this repo with submodules.

git clone --recursive https://github.com/justinshetty/placam.git
cd placam

Then, build the project.

cmake -B build && make -C build

Usage

This fork introduces two additional command-line arguments:

-f, --allow_following     allow following conflicts

-T, --threshold           number of reached goals necessary to terminate. If -1, all agents must reach their goals. [default: "-1"]

--skip_post_processing    Skip potentially time-consuming post processing such as calculating sum of costs.

Licence

This software is released under the MIT License, see LICENSE.txt.