Version 3.1.0

Version 3.1.0 - 2026-04-11

Added:

• Added a new Python interface layer with unified bindings for planner, scheduler, and executor (python/common) plus Python user templates and package init files.
• Added large benchmark/example instance sets for maze, room, and iron harvest domains.

Changed:

• Refactored execution pipeline and shared environment synchronization to improve staged-plan execution and assignment/update ordering.
• Improved default planner/scheduler behavior for larger maps and higher agent counts.

Fixed:

• Fixed race-condition and timeout-control issues in scheduling/execution flow.
• Fixed robustness issues in action validation and executor error handling under delayed and windowed execution.

Version 3.0.0 release

Version 3.0.0 - 2026-03-13

Added:

• Added support for the Execution component to process plans from planning and execution plans under execution uncertainty.
• Added support for multistep / staged planner execution with periodic planner communication.
• Added runtime delay generation via delayConfig in the input JSON.
• Added delay interval output (delayIntervals) to the output JSON for outputScreen <= 2.
• Added --prettyPrintJson option to write human-readable formatted JSON output.
• Added configurable action counter support via maxCounter in the input JSON and agentMaxCounter in the output JSON.
• Added compressed path segment metadata in the output JSON via outputSegmentSize.

Changed:

• Updated the simulator to use an executor-driven planning/execution flow instead of directly consuming returned actions.
• Updated the action model to support the new collision checking model based on agent footprint (agentSize) rather than point occupancy only.
• Updated the output JSON to include delay information, segmented path metadata, and the current starter-kit version string.
• Updated timing controls to distinguish preprocessing time, initial planning time, planner communication interval, per-action execution time, and executor plan-processing time.
• Updated the input format documentation to describe delayConfig, maxCounter, --prettyPrintJson, and delay interval output.

Version 2.1.2

Version 2.1.2 - 2025-01-19

Fixed:

• Bug: If an entry abandons an agent's task without re-assigning a new task, the task manager does not apply this abandon command.
• Bug: Upgrade file list missing default planner files.

Version 2.1.1

Version 2.1.1 - 2024-11-18

Fixed:

• Bug: Solution costs counted multiple times.
• Bug: When reassigning a task to an agent with a smaller id, task->agent_assigned will be reset to -1 instead of the smaller id agent.

Added:

• Docs explaining the anytime behaviour of the default planner.

Version 2.1.0

Version 2.1.0 - 2024-11-15

Added:

• Added new_tasks API to SharedEnvironment to notify the entry of new tasks released at the current timestep.
• Added new_freeagents API to SharedEnvironment to notify the entry of new free robots, who newly completed their assigned task, at the current timestep.
• Added --logDetailLevel option to specify the level of details of the log file.

Changes:

• API vector<Task> task_pool in SharedEnvironment is now removed. Use unordered_map<int, Task> task_pool instead, which uses task_id as the key.
• Documentation updated to reflect the changes in the API.
• The competition system now waits for entry to return and records the number of timeouts, then progress to the simulator. This prevents the entry using the unrecorded time spent on the simulator.
• Output JSON records a number of entry timeouts, invalid schedules, and invalid actions.
• Default Scheduler now uses the new API to schedule tasks.
• The update_goal_locations function in Default Entry is updated to use the new task_pool API. (Warning, when updating your entry, make sure you review the changes on Entry.cpp and decide how you adapt the changes to your entry implementation.)
• Update the Python binding to support the updated API.
• Updated the example python scheduler to use the new API. (Warning, when updating, make sure you review the changes on pyTaskScheduler.py and decide how you adapt the changes to your scheduler implementation.)
• Assigning task_id -1 to an agent to indicate no assigned task. This drops any existing but unopened task. However, assigning -1 to an agent with an opened task leads to an invalid schedule error

Version 2.0.0

Changelog

Version 2.0.0 - 2024-10-2

Added:

• Added support for task scheduler
• Added default planner and task scheduler implementation
• Added support for combined track
• Added Python support for new tracks
• Added Evaluation_Environment.md with details of the evaluation environment

Changes:

• Time limit uses ms as the unit
• Input-output format of the starter kit updated for the 2024 competition, with support for tasks with precedence constraints
• Updated documentation for new features
• Updated RunInDocker.sh to recreate the evaluation environment used for the 2024 competition
• Evaluation environment support PyTorch and CUDA
• rename Prepare_Your_Planner.md to Prepare_Your_Submission.md

Version 1.1.5

Version 1.1.5 - 2023-11-21

Fixed:

• An emergency fix on program crash if a log file is not set with CLI.

Version 1.1.4

Version 1.1.4 - 2023-11-18

Fixed:

• Fixed a bug causing segmentation fault on preprocess timeout. Preprocess timeout will now terminate the program with exit code 124.
• Fixed a bug causing segmentation fault on reading env->goal_locations when the plan timelimit exceeded.

Changes:

• Updated documentation to explain the preprocess timeout behaviour.
• Updated documentation to better explain online timeout behaviour. In particular, we spell out that env->curr_timestep may increment during the plan() call if it exceeds the given plan timelimit.

Version 1.1.3

Version 1.1.3 - 2023-10-24

Added:

• Add Working_with_Preprocessed_Data.md to explain how you can work with your preprocessed data.
• Add Debug_and_Visualiser_Your_Planner.md to explain how you can use the JSON output to debug and visualise with PlanViz

Changed:

• Additional option OutputScreen in the input argument, which allows you to choose the level of details of the output JSON file.
• Readme, Parepare_Your_Planner, and compile.sh suggests running the start-kit under repo root directory.
• Simplified duplicated output appears in couts and log files
• Updated documentation (add more descriptions regarding the coordination system in Prepare_Your_Planner.md)
• Updated documentation (add corresponding descriptions of OutputScreen in Input_Output_Format.md)
• Terminate all processes when the main process (the simulation) is terminated.

Fixed:

• Fixed issue with running start-kit under repo root directory python cannot find compiled MAPF module for importing.
• Fixed issue with missing fie_storage_path for pybind.

Version 1.1.2

Fixed:

• Parsing 'T' symbol commit missing in the git history.