CBS

• This is an implementation of the Conflict Based Search (CBS) algorithm, written in Java 11.
• This project aims to create a modular implementation, to facilitate the easier development of future CBS variants.

How to

• How to create a single instance

    >> Note: An example is provided in the Main.java, using solveOneInstanceExample() method
    
    In order to create a single MAPF_Instance you will need:
    1. An InstanceManager
       public InstanceManager(I_InstanceBuilder instanceBuilder)
       1.1 Instance Builders are the parsering classes
            examples: 'InstanceBuilder_MovingAI', 'InstanceBuilder_BGU'
    
    
    2. An absulute path to the file, wrapped as an InstancePath object
    
    In the Environment.A_RunManager class there is a static method you can call
    public static MAPF_Instance getInstanceFromPath(InstanceManager manager, 
                                                    InstanceManager.InstancePath absolutePath)
  

• How to run single\multiple Experiments

    >> Note: An example is provided in the Main.java, using runMultipleExperimentsExample() method
    
    In order to run experiments you will need:
    RunManager class that extends Environment.A_RunManager and implement the following
    1.  abstract void setSolvers(); // choose solvers to add (one or more)
        Example: solvers.add(new CBS_Solver())
        
    2.  abstract void setExperiments(); // choose experiments
        
        * You can view the default report fields in method 'setReport' and modify it 
        Add an Experiment class
        public Experiment(String experimentName, InstanceManager instanceManager, int numOfInstances)
            2.1 Experiment name: set any name you like to differ between experiment
            2.2 An InstanceManager       
                public InstanceManager(String sourceDirectory,
                                           I_InstanceBuilder instanceBuilder,
                                           InstanceProperties properties)
                2.2.1   sourceDirectory - A path to the directory with the instances
                2.2.2   Instance Builders are the parsering classes
                        examples: 'InstanceBuilder_MovingAI', 'InstanceBuilder_BGU'
                2.2.3   Instance Properties - In case you want to filter instances by criterias
                        Constructor
                        @param mapSize - {@link MapDimensions} indicates the Axis lengths , zero for unknown
                        @param obstacles - For unknown obstacles enter -1
                        @param numOfAgents - An array of different num of agents. 
        
            2.3 numOfInstances - You can choose how many instances you want for the experiment
                                 Note: there is a default number of instances, Integer.MAX_VALUE